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Experiment 8: To Compute The Steady-State Error of Transfer Functions Using MATLAB

This lab manual provides instructions for computing the steady-state error of transfer functions using MATLAB. The objectives are to find the steady-state error theoretically and using MATLAB. The document defines steady-state error and describes how to calculate it for different inputs like step, ramp, and parabola. Several examples are provided to find the steady-state error of transfer functions for step inputs using theoretical analysis and MATLAB. The results from MATLAB verify the theoretical calculations. It is shown that steady-state error becomes infinity for ramp and parabola inputs.

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Talha Ahsan
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142 views8 pages

Experiment 8: To Compute The Steady-State Error of Transfer Functions Using MATLAB

This lab manual provides instructions for computing the steady-state error of transfer functions using MATLAB. The objectives are to find the steady-state error theoretically and using MATLAB. The document defines steady-state error and describes how to calculate it for different inputs like step, ramp, and parabola. Several examples are provided to find the steady-state error of transfer functions for step inputs using theoretical analysis and MATLAB. The results from MATLAB verify the theoretical calculations. It is shown that steady-state error becomes infinity for ramp and parabola inputs.

Uploaded by

Talha Ahsan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

EXPERIMENT 8 Date Perform: 04/11/2020

To Compute the Steady-State Error of transfer functions using MATLAB

Objective: To Compute the Steady-State Error of transfer functions using MATLAB


 To find the steady state error of transfer function using theoretical analysis
 To compute the steady state error of transfer function using MATLAB
Apparatus:
 Computer with installed MATLAB software
Theory:
Steady-state error is the difference between the input and the output for a prescribed test input as
t➙∞. Many steady-state errors in control systems arise from nonlinear sources, such as backlash
in gears or a motor that will not move unless the input voltage exceeds a threshold. Nonlinear
behavior as a source of steady-state errors, although a viable topic for study is beyond the scope
of a text on linear control systems. The steady state errors we study here are errors that arise
from the configuration of the system itself and the type of applied input.
Consider the figure where a closed loop system is shown and the error signal “E” given by the
difference of output and input signal. If the difference is zero then the system contain zero error
and if the system is provided by the gain then there will exist a finite error.

E=R ( s )−C ( s )
If we call the output at steady state then the steady state error will be given by
c steady state=K e steady state
And
c steady state
K=
esteady state
This shows that by increasing the gain the steady state error reduces and output increases.
Consider the figure below where G(s) is a system given the error signal is given by
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

E=R ( s )−C ( s )
C ( s ) =E ( s ) G ( s )
Substituting it in above mentioned equation. We get the following error equation
R( s)
E ( s )=
1+G( s)
By applying the final value theorem we can find the final value without using its inverse
transform.

So, e ( ∞ )=lim e(t )=lim sE (s)


t→∞ s→0

Put the values and you will get the desired error for any input.

In-Lab Exercise
1.1: Find the steady state error for the following given system as transfer function excited by step
input? Use MATLAB to evaluate it.
5
G ( s )= 2
s + 7 s+ 10

MATLAB:
G = tf(5 , [1 7 10]);
Kp = dcgain(G)
Ess = 1 / (1+Kp)
Kp = 0.5000
Ess = 0.6667
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

120(s+2)
1.2: For the given system G(s), find the steady state error for step input when G ( s )=
(s+3)( s+ 4)
.verify using MATLAB

MATLAB:
G = tf(120*([1 2]) , [1 7 12]);
Kp = dcgain(G)
Ess = 1 / (1+Kp)
Kp = 20
Ess = 0.0476
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

1.3: Find the esteady state for 2 u(t), 5u(t) and 7u(t). verify using MATLAB

For 2u(t)
MATLAB:
G = tf(5 , [1 7 10]);
Kp = dcgain(G)
Ess = 2 / (1+Kp)
Kp = 0.5000
Ess = 1.3333

For 5u(t)
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

MATLAB:
G = tf(5 , [1 7 10]);
Kp = dcgain(G)
Ess = 5 / (1+Kp)
Kp = 0.5
Ess = 3.3

For 7u(t)
MATLAB:
G = tf(5 , [1 7 10]);
Kp = dcgain(G)
Ess = 7 / (1+Kp)
Kp = 0.5
Ess = 4.66
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

1.4: What happens to the steady state error when the system is excited by ramp and parabola
input? Give facts mathematically and verify using MATLAB. Give transfer function of q1.1.

For Ramp
s = tf('s');
G = tf(5 , [1 7 10]);
Kv = dcgain(s*G)
Ess = 1 / Kv
Kv = 0
Ess = Infinity
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

For Parabola
s = tf('s');
G = tf(5 , [1 7 10]);
Ka = dcgain((s^2)*G)
Ess = 1 / Ka
Ka = 0
Ess=infinity

CL0 Score→ Beginning


Statement↓ Exemplary (5) Proficient (4) Developing (3) Novice (1)
(2)
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

To comprehend
the theoretical
Correctly With minor Partially Poorly
basis for Doesn’t
1 analyzing the
answers all the mistakes answers answers the answers the
answer
questions all the questions questions questions
given control
systems

To Follow the Correctly Applies


Correctly applies Applies
given instructions applies MATLAB
MATLAB MATLAB Can’t
to MATLAB commands
2 Build models of commands to
commands with commands to
with help to
complete
little help to complete some any task
physical systems complete all complete
complete all tasks tasks
using MATLAB tasks some tasks

CLO Marks Obtained

Instructor’s Signatures: __________________________

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